scholarly journals Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

2021 ◽  
Vol 42 (3) ◽  
pp. 113-129
Author(s):  
Konrad J. Jensen ◽  
Morten K. Ebbesen ◽  
Michael R. Hansen
Keyword(s):  
Boom Crane

Analisis Kegagalan Boom Crane dan Pencegahannya

2014 ◽  
Vol 10 (1) ◽  
pp. 19
Author(s):  
Elvis Adril ◽  
Nasirwan - ◽  
Tri Wibowo ◽  
Julnaidi -
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Chemical Composition ◽  
Optimum Design ◽  
Root Cause ◽  
Main Equipment ◽  
Hardness Tests ◽  
Photo Documentation ◽  
Crawler Crane ◽  
Boom Crane

Sleeve (Boom) on Crawler Crane is the main equipment that serves the weight at the time of appointment (Hoisting).The problem which is founded is a fracture at the boom while lift 6 Tons of weight while the optimum design of equipment is 50 tons. The aim of this research is to found the root cause of the fracture by using photo documentation fractografi (microfractografi and macrofractografi), and hardness tests, and test the chemical composition at the surface faults boom crane. We used Finite element method (FEM) to form simulated load. The results is that the porblem accured because of error while read the load chart and error in SOP

scholarly journals Modeling a Knuckle-Boom Crane Control to Reduce Pendulum Motion Using the Moving Frame Method

2019 ◽  
Author(s):  
Maren Eriksen Eia ◽  
Elise Mari Vigre ◽  
Thorstein Ravneberg Rykkje
Keyword(s):  
Equations Of Motion ◽  
Moving Frame ◽  
Web Pages ◽  
Moving Frames ◽  
Pendulum Motion ◽  
Moving Frame Method ◽  
Frame Method ◽  
The Masses ◽  
And Control ◽  
Boom Crane

Abstract A Knuckle Boom Crane is a pedestal-mounted, slew-bearing crane with a joint in the middle of the distal arm; i.e. boom. This distal boom articulates at the ‘knuckle (i.e.: joint)’ and that allows it to fold back like a finger. This is an ideal configuration for a crane on a ship where storage space is a premium. This project researches the motion and control of a ship mounted knuckle boom crane to minimize the pendulum motion of a hanging load. To do this, the project leverages the Moving Frame Method (MFM). The MFM draws upon Lie group theory — SO(3) and SE(3) — and Cartan’s Moving Frames. This, together with a compact notation from geometrical physics, makes it possible to extract the equations of motion, expeditiously. The work reported here accounts for the masses and geometry of all components, interactive motor couples and prepares for buoyancy forces and added mass on the ship. The equations of motion are solved numerically using a 4th order Runge Kutta (RK4), while solving for the rotation matrix for the ship using the Cayley-Hamilton theorem and Rodriguez’s formula for each timestep. This work displays the motion on 3D web pages, viewable on mobile devices.

Leveraging Flow Regeneration in Individual Energy-Efficient Hydraulic Drives

2021 ◽  
Author(s):  
Damiano Padovani
Keyword(s):  
Natural Frequency ◽  
Dynamic Properties ◽  
Poor Performance ◽  
Control Techniques ◽  
Lower Natural Frequency ◽  
Operating Region ◽  
Depth Analysis ◽  
Study Case ◽  
Boom Crane ◽  
Circuit Configuration

Abstract The current demand for energy efficiency in hydraulics directs towards the replacement of centralized, valve-controlled actuators with individual, throttleless drives. The resulting solutions often require an undesirable sizing of the key components to expand the system’s operating region. Using flow regeneration (i.e., shortcutting the actuator’s chambers) mitigates this issue. Such an option, already stated for individual drives, lacks an in-depth analysis from the control perspective since the dynamic properties are changed (e.g., the natural frequency is decreased to about 60% of the original value). Therefore, this research paper studies a representative single-pump architecture arranged in a closed-circuit configuration. Linear control techniques are used to understand the system dynamics and design a PI-control algorithm that also adds active damping. The outcomes are validated via high-fidelity simulations referring to a single-boom crane as the study case. The results encompassing diverse scenarios indicate that flow regeneration is only interesting in those applications where the dynamic response is not demanding. In fact, the lower natural frequency reduces the system’s bandwidth to about 69% of the original value and affects the closed-loop position tracking drastically. This poor performance becomes evident when medium-to-high actuation velocity is commanded with respect to the maximum value.

scholarly journals A Self-Contained Electro-Hydraulic Cylinder with Passive Load-Holding Capability

Energies ◽  
2019 ◽  
Vol 12 (2) ◽  
pp. 292 ◽  
Author(s):  
Damiano Padovani ◽  
Søren Ketelsen ◽  
Daniel Hagen ◽  
Lasse Schmidt
Keyword(s):  
Energy Efficiency ◽  
Cost Efficiency ◽  
Tracking Error ◽  
Hydraulic Cylinder ◽  
Position Tracking ◽  
Hydraulic Systems ◽  
Practical Applications ◽  
Hydraulic Cylinders ◽  
External Loads ◽  
Boom Crane

Self-contained electro-hydraulic cylinders have the potential to replace both conventional hydraulic systems and the electro-mechanical counterparts enhancing energy efficiency, plug-and-play installation, and reduced maintenance. Current commercial solutions of this technology are limited and typically tailor-made, whereas the research emphasis is primarily on cost efficiency and power applications below five [kW]. Therefore, there is the need of developing more flexible systems adaptable to multiple applications. This research paper offers a contribution in this regard. It presents an electro-hydraulic self-contained single-rod cylinder with passive load-holding capability, sealed tank, capable of recovering energy, and scalable up to about eighty [kW]. The system implementation on a single-boom crane confirms its feasibility: The position tracking error remains well within ±2 [mm], oscillations are limited, and the overall energy efficiency is about 60 [%] during actuation. Concerning the passive load-holding devices, it is shown that both vented and non-vented pilot-operated check valves achieve the desired functioning and can hold the actuator position without consuming energy. Additional observations about the size and the arrangement of the load-holding valves are also provided. In conclusion, this paper demonstrates that the proposed self-contained cylinder can be successfully extended to several practical applications, especially to those characterized by overrunning external loads and the need of securing the actuator position.

scholarly journals Digital twin based condition monitoring of a knuckle boom crane: An experimental study

2020 ◽  
Vol 112 ◽  
pp. 104517 ◽  
Author(s):  
Torbjørn Moi ◽  
Andrej Cibicik ◽  
Terje Rølvåg
Keyword(s):  
Experimental Study ◽  
Condition Monitoring ◽  
Digital Twin ◽  
Boom Crane
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